Manual. Global Drive. PLC Developer Studio. Global Drive. LenzeElectricalShaft.lib. Function library

Transcription

1 L Manual Global Drive PLC Developer Studio Global Drive Function library LenzeElectricalShaft.lib

2 The function library LenzeElectricalShaft.lib can be used for the following Lenze PLCs: Type from hardware version from software version 9300 Servo PLC EVS93XX xi 2K Servo PLC EVS93XX xt 2K 10 ECSxA ECSxAxxx 1C 7.0 Important note: The software is supplied to the user as described in this document. Any risks resulting from its quality or use remain the responsibility of the user. The user must provide all safety measures protecting against possible maloperation. We do not take any liability for direct or indirect damage, e.g. profit loss, order loss or any loss regarding business Lenze Drive Systems GmbH No part of this documentation may be copied or made available to third parties without the explicit written approval of Lenze Drive Systems GmbH. All information given in this documentation has been carefully selected and tested for compliance with the hardware and software described. Nevertheless, discrepancies cannot be ruled out. We do not accept any responsibility or liability for any damage that may occur. Required corrections will be included in updates of this documentation. All product names mentioned in this documentation are trademarks of the corresponding owners. Version /2005

3 Contents 1 Preface and general information About this Manual Conventions in this Manual Pictograms in this Manual Terminology used Lenze software guidelines for variable names Hungarian Notation Recommendation for designating variable types Designation of the signal type in the variable name Special handling of system variables Version identifiers of the function library Function blocks Digital frequency ramp generator (L_DFRFG) Digital frequency processing (L_DFSET) Gearing compensation (L_GEARCOMP) Homing function (L_REF) Appendix Code table L_DFRFG L_DFSET L_GEARCOMP L_REF Index l LenzeElectricalShaft.lib EN 1.2 i

4 Contents ii LenzeElectricalShaft.lib EN 1.2 l

5 Preface and general information 1 Preface and general information 1.1 About this Manual This Manual contains information on the function blocks that are included in the function block library LenzeElectricalShaft.lib for the Drive PLC Developer Studio. These function blocks can be used, for instance, in the 9300 Servo PLC automation system. The function blocks are based on the functions that are available in the 9300 servo controller (V2.0). In Drive PLC Developer Studio (DDS) you make the basic settings for your drive application offline, by using variables (in accordance with the IEC standard) as aids for parameterizing the appropriate function blocks. By using Global Drive Control (GDC) or keypad you can then Online set the parameters for the required functionality of your drive application, by accessing the code positions for the various instances of the function blocks Conventions in this Manual This Manual uses the following conventions to distinguish between different types of information: Variable names are shown in the explanatory texts in italics: The signal at nin_a..." can be recognized by the names. They always begin with L_": The FB L_ARIT can..." Instances For function blocks that have one or more first instances, there are tables that describe the corresponding codes: Variable name L_ARIT1 L_ARIT2 Setting range Lenze byfunction C0338 C You can access these codes Online is linked to Global Drive Control (GDC) or keypad. Tip! You can use the Parameter Manager to assign the same codes to these instances that are assigned in the 9300 servo controller( V2.0) Pictograms in this Manual Warning of material damage Use of Pictographs Signal words Stop! Warns of potential damage to material. Possible consequences if disregarded: Damage of the controller/drive system or its environment. Other notes Tip! This note designates general, useful notes. If you observe it, handling of the controller/drive system is made easier. l LenzeElectricalShaft.lib EN

6 Preface and general information Terminology used Term FB SB Parameter codes GDC In the following text used for Function block System block Codes for setting the functionality of a function block Global Drive Control (parameterization program from Lenze) 1 2 LenzeElectricalShaft.lib EN 1.2 l

7 Preface and general information 1.2 Lenze software guidelines for variable names The previous concepts for Lenze controllers were based on codes that represented the input and output signals, and the parameters of function blocks. For the sake of clarity, names were defined for the codes in the documentation. In addition, the signal types were defined by graphical symbols. The user could see at a glance which kind of signal (analog, phase angle etc.) had to be present at the particular interface. The concept for the new automation system does not use direct codes in the programming. The IEC standard is used instead. This standard is based on a structure of variable names. If the user applies variables in his project, then he can name the variables as he chooses. In order to avoid the growth of a multitude of different conventions for naming variables in existing and future projects and function libraries that are programmed by Lenze personnel, we have set up software guidelines that must be followed by all Lenze staff. In this convention for creating variable names, Lenze keeps to the Hungarian Notation that has been specifically expanded by Lenze. If you make use of Lenze specific functions or function blocks, you will immediately be able to see, for instance, which data type you must transfer to a function block, and which type of data you will receive as an output value Hungarian Notation These conventions are used so that the most significant characteristics of a program variable can instantly be recognized from its name. Variable names consist of a prefix (optional) a data type entry and an identifier The prefix and data type entry are usually formed by one or two characters. The identifier (the "proper" name) should indicate the application, and is therefore usually somewhat longer. Prefix examples prefix a p Meaning Array (combined type), field Pointer l LenzeElectricalShaft.lib EN

8 Preface and general information Examples of the data type entry Examples of a data type b by n w dn dw s f sn t un udn usn Meaning Bool Byte Integer Word Double integer Double word String Real (float) Short integer Time Unsigned integer Unsigned double integer Unsigned short integer Identifier (the proper variable name) An identifier begins with a capital letter. If an identifier is assembled from several "words", then each "word" must start with a capital letter. All other letters are written in lower case. Examples: Array of integers anjogvalue[10] ; Bool bisempty ; Word wnumberofvalues ; Integer nloop ; Byte bycurrentselectedjogvalue ; Recommendation for designating variable types In order to be able to recognize the type of variable in a program according to the name, it makes sense to use the following designations, which are placed in front of the proper variable name and separated from it by an underline stroke: I_<Variablename> Q_<Variablename> IQ_<Variablename> R_<Variablename> C_<Variablename> CR_<Variablename> g_<variablename> gr_<variablename> gc_<variablename> gcr_<variablename> VAR_INPUT VAR_OUTPUT VAR_IN_OUT VAR RETAIN VAR CONSTANT VAR CONSTANT RETAIN VAR_GLOBAL VAR_GLOBAL RETAIN VAR_GLOBAL CONSTANT VAR_GLOBAL CONSTANT RETAIN Example for a global array of type integer that includes fixed setpoints (analog) for a speed setting: g_anfixsetspeedvalue_a 1 4 LenzeElectricalShaft.lib EN 1.2 l

9 Preface and general information Designation of the signal type in the variable name The inputs and outputs of the Lenze function blocks each have a specific signal type assigned. These may be: digital, analog, position, or speed signals. For this reason, each variable name has an ending attached that provides information on the type of signal. Signal type Ending Previous designation analog _a (analog) digital _b (binary) Phase angle difference or speed _v (velocity) Phase angle or position _p (position) Tip! Normalizing to signal type phase angle difference/speed: (INT) rpm Normalizing to signal type analog: % value under [C0011] = n max Normalizing to signal type angle or position: motor revolution Examples: Variable name Signal type Type of variable nin_a Analog input value Integer dnphiset_p Phase signals Double integer bload_b Binary value (TRUE/FALSE) Bool ndigitalfrequencyin_v Speed input value Integer Special handling of system variables System variables require special handling, since the system functions are only available for the user as I/O connections in the control configuration. In order to be able to access a system variable quickly during programming, the variable name must include a label for the system function. For this reason, the name of the corresponding system block is placed before the name of the variable. Examples: AIN1_nIn_a CAN1_bCtrlTripSet_b DIGIN_bIn3_b l LenzeElectricalShaft.lib EN

10 Preface and general information 1.3 Version identifiers of the function library The version of the function library can be found under the global constant C_w[Function library name]version. Version identifiers as of PLC software version 7.x: Constant Meaning Example value C_w[FunctionLibraryName]VersionER External Release 01 C_w[FunctionLibraryName]VersionEL External Level 05 C_w[FunctionLibraryName]VersionIR Internal Release 00 C_w[FunctionLibraryName]VersionBN Build No. 00 Version: The value of this constant is a hexadecimal code. In the example, " " stands for version "1.05". 1 6 LenzeElectricalShaft.lib EN 1.2 l

11 2.1.1 Digital frequency ramp generator (L_DFRFG) 2 Function blocks Digital frequency ramp generator (L_DFRFG) This FB synchronizes the drive (motor shaft) to a digital frequency (phase angle input). The drive then runs in phase synchronism with the digital M 6 EB. H3 I F > O 5 F A EHA? M 6 EH@ BBI A J > O. K? JE M 5 O 9 M,. 4. / > 5 A J6 2 4 A? A EL 5 A J6 2 = I J5? = F 1 L JH = N 5 F A > 5 O? > K J L > M 6 D HA I M E C - HH H > 5 J F > 5 3 >. = E > > 4 A I A J > 4 Abb. 2 1 Digital frequency ramp generator (L_DFRFG) VariableName DataType SignalType VariableType Note bsettpreceived_b Bool binary VAR_INPUT Zero pulse or TP (TouchProbe) received dnsettplastscan_p Double Integer position VAR_INPUT Difference increments between TP and start of the task nin_v Integer velocity VAR_INPUT Speed/phase angle setpoint ( rpm) bqsp_b Bool binary VAR_INPUT TRUE = Quickstop bstop_b Bool binary VAR_INPUT TRUE = save setpoint breset_b Bool binary VAR_INPUT TRUE = reset bsync_b Bool binary VAR_OUTPUT TRUE = drive runs synchronously nout_v Integer velocity VAR_OUTPUT Speed/Phase setpoint bfail_b Bool binary VAR_OUTPUT TRUE = exceeded phase angle difference dwtir Double Word VAR CONSTANT RETAIN Acceleration time nmaxspeed Integer VAR CONSTANT RETAIN max. rate of catching up dwtifforqsp Double Word VAR CONSTANT RETAIN Deceleration time for QSP (Quickstop) dwthreshold FollowingError Double Integer VAR CONSTANT RETAIN Second contouring error ( turn) wsynwindow Word VAR CONSTANT RETAIN Synchronization window dnoffset Double Integer VAR CONSTANT RETAIN Offset related to the digital frequency input ( turn) byfunction Byte VAR CONSTANT RETAIN Start with/without TP byspeeddirection Byte VAR CONSTANT RETAIN Input of the direction of rotation L LenzeElectricalShaft.lib EN

12 2.1.1 Digital frequency ramp generator (L_DFRFG) Parameter codes of the instances VariableName L_DFRFG1 SettingRange Lenze dwtir C s nmaxspeed C rpm 3000 dwtifforqsp C s dwthreshold C incr FollowingError wsynwindow C incr. 100 dnoffset C incr. 0 byfunction C0757 0, 1 0 byspeeddirection C Range of functions Profile generator Quickstop Ramp generator stop RESET Detect phase difference Set offset Connection of the function block Note! This FB operates with remainder handling Profile generator K J M 6 EH M 5 O 9 M 6 EH 1 L = N 5 F A > 5 O? > J J Abb. 2 2 Diagram of the synchronization of L_DFRFG The profile generator generates ramps which lead the setpoint phase to its target. Use dwtir to set the ramp up and ramp down times ( s). Use nmaxspeed to set the maximum speed ( rpm). If the distance and the speed reach their setpoints, the output switches bsync_b = TRUE. At the same time, the FB switches the profile generator inactive and nin_v is output to nout_v. Use wsynwindow to set the changeover point for bsync_b (1 1 incr.). Stop! Do not operate the drive at the torque limit with this function max, I max. 2 2 LenzeElectricalShaft.lib EN 1.2 L

13 2.1.1 Digital frequency ramp generator (L_DFRFG) 1 L 2 = JD K J L J 1 L 2 = JD J Abb. 2 3 Speed time diagram for L_DFRFG The number of increments at nin_v (master drive) define the target point. The target can be represented as a distance. In the speed time diagram, the distance covered (phase) is shown as the area under the speed profile. When synchronization is reached, master and slave have covered the same distance (phase) Quickstop Removes the drive from the network and brakes it to standstill. Quickstop is activated with bqsp_b = TRUE Select the constant FIXED0% (selection number 1000) using dwtifforqsp to set the ramp down time ( s). The set phase angle detected at nin_v is saved ( rpm). After reset of the Quickstop request, the set phase is approached via the profile generator. K J L 1 M 6 EB. H3 5 M 6 M 6 EH = N 5 F A > > J J Abb. 2 4 Diagram of the Quickstop function L LenzeElectricalShaft.lib EN

14 2.1.1 Digital frequency ramp generator (L_DFRFG) Ramp generator stop Maintains the state of the profile generator during operation. Select the constant FIXED0% (selection number 1000) using bstop_b = TRUE, the function ramp generator stop" is activated. The latest state is output at nout_v ( rpm). The set phase angle detected at nin_v is stored. After reset of the Quickstop request, the set phase angle is approached via the profile generator. K J L 1 L = N 5 F A > 5 J F > J J Abb. 2 5 Diagram of the function ramp generator stop" RESET breset_b= TRUE: Resets the setpoint phase which has been internally summed up. Activates the profile generator. A TRUE FALSE edge at breset_b detects the set phase angle Detect phase difference Monitoring the phase angle difference between nin_v and nout_v. Select the constant FIXED0% (selection number 1000) using dwthresholdfollowingerror to adjust the limit for the monitoring (1 1 incr.). If the monitoring is triggered, then bfail_b is set = TRUE. Select the constant FIXED0% (selection number 1000) using breset_b = TRUE to store the signal. The profile generator can accept a phase angle difference of up to ± incr. ( turns) ( turn). 2 4 LenzeElectricalShaft.lib EN 1.2 L

15 2.1.1 Digital frequency ramp generator (L_DFRFG) Set offset The offset is adjusted with dnoffset (1 1 incr.). The offset refers to the digital frequency input and is normalised (scaled) to 1 revolution (= increments). Select the constant FIXED0% (selection number 1000) using bsettpreceived_b = TRUE starts the ramp generator. The lead of the master from the moment of starting, or the resulting distance/phase difference, is taken up during acceleration. Setting: positive offset values Causes a time shift of the TP This means that less time is necessary to obtain synchronism with the master. (For instance, with dnoffset = 0 this cannot be achieved). Note! With large offset values and low input speeds the drive could change direction. To prevent this, you can use byspeeddirection to fix the direction of rotation: byspeeddirection: 1 = cw/ccw, 2 = cw, 3 = ccw Start of the ramp generator Use byfunction to parameterize the start of the ramp generator. byfunction = 0: The ramp generator is started immediately on the first call. byfunction = 1: The ramp generator is now started through bsettpreceived_b Use of L_DFRFG with the 9300 Servo PLC Note! See also Manual 9300 Servo PLC", Description of the system blocks DF_IN_DigitalFrequency and MCTRL_MotorControl. Nature of the task: A 9300 Servo PLC is to be synchronized to the speed setpoint at the digital frequency input. The digital frequency input provides a constant speed of 867 rpm through DFIN_nIn_v: DFIN_nIn_v rpm rpm The start of synchronization is made by the TouchProbe input of the SB DF_IN_DigitalFrequency (X5/E5). Through the FB L_DFSET a phase angle difference is controlled down to zero with the help of the phase angle controllers in the SB MCTRL_MotorControl. The maximum speed for the ramp generator must not exceed 3000 rpm. Both right (cw) and left (ccw) rotation of the motor are permitted. The acceleration (run up) time should be 10 seconds. L LenzeElectricalShaft.lib EN

16 2.1.1 Digital frequency ramp generator (L_DFRFG) Implementation: Create one instance each of the FB L_DFRFG and the FB L_DFSET. Assign the first instance codes to these instances, using the Instance Parameter Manager. In this way, all the values for the parameterization of the variables (e.g. for scaling and initialization) will be set to the Lenze standard settings. Note! You can find the Lenze standard seettings for the instances of an FB in the table Parameter Codes for the Instances" in the corresponding FB description. 2 6 LenzeElectricalShaft.lib EN 1.2 L

17 2.1.1 Digital frequency ramp generator (L_DFRFG) Setting the initial values of L_DFRFG1 in the Instance Parameter Manager Alter the initial value of byfunction from 0 to 1. The start of synchronization is then initiated throught the Touchprobe input (X5/E5) of the SB DF_IN_DigitalFrequency ( L_DFRFG.bSetTPReceived_b). DFIN_dnIncLastScan_p assigns the phase difference between the appearance of the Touchprobe signal and the start of the task in which L_DFRFG1 is called, for the calculation of the path, to L_DFRFG1. Alter the initial value of dwtir from to , so that the ramp up/ramp down time of the ramp generator is 10 seconds. The initial value of byspeeddirection includes the Lenze standard setting (DF=1), since both cw (right) and ccw (left) rotation should be possible. The initial value of nmaxspeed includes the Lenze standard setting (DF=3000), so the maximum speed of the profile generator will be 3000 rpm. ( rpm) Speed setpoint L_DFRFG1 assigns the speed setpoint, through L_DFSET1 ( nsetspeedout_a ) to the SB MCTRL_MotorControl ( MCTRL_nNSet_a). In L_DFSET1 a conversion is made from a velocity valuer (L_DFRFG1.nOut_v) to an analog value ( L_DFSET1.nSetSpeedOut_a): <Variable>_v: rpm <Variable>_a: n max (C0011) During synchronization, the speed setpoint is generated by the synchronization profile (profile generator) and output to L_DFRFG1.nOut_v ( rpm). After synchronization, the speed setpoint is switched over from L_DFRFG1.nIn_v to L_DFRFG1.nOut_v, the setpoint now follows the value of the digital frequency input. Setpoint for the phase angle controller A set/actual phase angle comparison provides an phase angle difference that is assigned to the phase angle controller in the SB MCTRL_ MotorControl. If there is a difference between the set value and the actual value, the phase angle controller corrects this deviation. The phase angle controller in the SB MCTRL_MotorControl must be activated. ( MCTRL_bPosOn_b = TRUE) The set/actual value comparison is performed in L_DFSET1 between L_DFSET1.nSet_v (setpoint) and L_DFSET1.nNAct_v (actual value). The phase angle difference is output via L_DFSET1.dnPosDiffOut_p, and then assigned to the phase angle controller in the SB MCTRL_ MotorControl through the system variable MCTRL_dnPosSet_p. L LenzeElectricalShaft.lib EN

18 2.1.2 Digital frequency processing (L_DFSET) Digital frequency processing (L_DFSET) This FB conditions the digital frequency for the drive controller. You can enter values for the stretch factor and gearing factor, and trim the speed or phase angle setting. > 2 K I A > > O 2 K I A. K? M )? J 2 K I A, EL M 5 A J 2 K I A, EL,. 5-6 > 5 A J6 2 4 A? A EL 5 A J6 2 = I J5? = F > )? > > )? J6 2 4 A? A EL )? J = I J5? = F 5 F A 6 HE L 5 F A 6 HE = / A = H E = J H / = E E = J H 5 A J K J L 5 A J L = > > M / = E, A = = = > > M / A = H, A 5 A J5 F A K J = > 9 EJD K J/ A = H. =? J 2 I BBI A J 5 F A A F 2 I BBI A 2 I, EBB K J F > 5 A J1 JA C H= J H > > 4 A I A J) 1 JA C H= J HI > 1 JA H L = 6 E A 6 ) 2 I 5 A J K J F 2 I EJE 6 HE E C ) C A BBI A J K J 1 JA H L = 6 E A 6 ) 5 )? J M. M E C - HH9 E 16 2! >. M E C - HH >? I J 16 2! > 2 I L A HB M > Abb. 2 6 Digital frequency processing (L_DFSET) 2 8 LenzeElectricalShaft.lib EN 1.2 L

19 2.1.2 Digital frequency processing (L_DFSET) VariableName DataType SignalType VariableType Note b0pulse_b Bool binary VAR_INPUT TRUE = enable 0 pulse synchronization bsettpreceived_b Bool binary VAR_INPUT Setpoint TP (TouchProbe) or zero pulse received dnsettplastscan_p Double integer position VAR_INPUT Phase angle difference between TP setpoint and start of the task bacttpreceived_b Bool binary VAR_INPUT Actual value TP or zero pulse received dnactlastscan_p Double integer position VAR_INPUT Phase angle difference between TP actual value and start of the task nspeedtrim_v Integer velocity VAR_INPUT Speed trimming in [rpm]. ( rpm) nspeedtrim_a Integer analog VAR_INPUT Speed trimming in [%]. (C % 16384) ngearnominator Integer analog/velocity VAR_INPUT Numerator for gearing factor (100 % incr.) ngainnominator Integer analog/velocity VAR_INPUT Numerator stretch factor (100 % incr.) nset_v Integer velocity VAR_INPUT Speed/Phase setpoint bsetintegrator_b Bool binary VAR_INPUT TRUE = set phase angle integrators to be equal FALSE TRUE edge sets dnposdiffout_p = 0 TRUE FALSE edge sets dnpset_p = actual value of MCTRL_dnPosSet_p bsetintegrator_b has a higher priority than bresetallintegrators_b bresetallintegrators_b Bool binary VAR_INPUT TRUE = sets position difference = 0 TRUE = sets dnpossetout_p and dnposdiffout_p = 0 npositiontrimming Integer analog/velocity VAR_INPUT Phase angle trimming (100 % incr.) nnact_v Integer velocity VAR_INPUT Actual value for calculating the actual position back_b Bool binary VAR_OUTPUT TRUE = synchronizing is performed nsetout_v Integer velocity VAR_OUTPUT Speed/Phase setpoint nsetspeedout_a Integer analog VAR_OUTPUT in [%] of nmax. (C % 16384) dnposdiffout_p Double integer position VAR_OUTPUT Contouring error for phase controller dnpossetout_p Double integer position VAR_OUTPUT Phase angle setpoint (65536 incr. 1 turn) bfollowingerr_b Bool binary VAR_OUTPUT Status: TRUE = contouring error bposoverflow_b Bool binary VAR_OUTPUT Status: TRUE = phase angle controller overflow wgeardenom Word VAR CONSTANT RETAIN Gearbox factor denominator dnposoffset Double integer VAR CONSTANT RETAIN Phase offset nspeeddepend Integer VAR CONSTANT RETAIN Speed dependent phase trimming PosOffset dwfollowingerrwin Double integer VAR CONSTANT RETAIN Contouring error limit nangleoffsetmult Integer VAR CONSTANT RETAIN Multiplier for the phase angle trimming offset bwithoutgearfactor Bool VAR CONSTANT RETAIN Evaluation of the set phase integrator wact0pulsediv Word VAR CONSTANT RETAIN Actual zero pulse divider wgaindenom Word VAR CONSTANT RETAIN Denominator of the stretch factor by0pulsefunc Byte VAR CONSTANT RETAIN Zero pulse function (synchronization mode) wset0pulsediv Word VAR CONSTANT RETAIN Set zero pulse divider L LenzeElectricalShaft.lib EN

20 2.1.2 Digital frequency processing (L_DFSET) Parameter codes of the instances VariableName L_DFSET1 SettingRange Lenze wgeardenom C dnposoffset C inc 0 nspeeddependpos C inc 0 Offset dwfollowingerrwin C inc nangleoffsetmult C bwithoutgearfactor C0530 0, 1 0 wact0pulsediv C wgaindenom C by0pulsefunc C0534 0, 1, 2, 10, 11, 12, 13 0 wset0pulsediv C Range of functions Setpoint conditioning with stretch and gearbox factor Processing of correction values Synchronizing on zero track or touch probe (for resolver feedback: touch probe only) Connection of the function block Setpoint conditioning with stretch and gearbox factor Stretch factor The stretch factor defines the ratio for the drive running to its setpoint. The stretch factor evaluates the setpoints at nset_v. The result appears at nsetout_v ( rpm). The stretch factor results from numerator and denominator. Numerator: Variable value of ngainnominator. Denominator: defined under wgaindenom. Relationship: nsetout_v nset_v ngainnominator wgaindenom Gearbox factor The gearing factor defines the gearbox ratio of the drive. Enter the ratio of the drive. The gearing factor evaluates the setpoints at nset_v multiplied by the stretch factor. The result appears at nsetspeedout_a (16384 n max (C0011)). The gearing factor is formed from the numerator and denominator. Numerator: Variable value of ngearnominator. Denominator: defined under wgeardenom. Relationship: nsetspeedout_a Reckfaktor ngearnominator wgeardenom nsetspeedout_a nset_v ngainnominator wgaindenom ngearnominator wgeardenom 2 10 LenzeElectricalShaft.lib EN 1.2 L

21 2.1.2 Digital frequency processing (L_DFSET) Processing of correction values Speed trimming Speed trimming is used to add correction values, e.g. from a superimposed closed loop control. This allows acceleration or deceleration of the drive. Speed trimming is implemented through addition of an analog value at nspeedtrim_a to the speed setpoint (16384 n max (C0011)) or a speed value at nspeedtrim_v to the speed setpoint ( rpm) The speed trimming via this input is more precise. Phase trimming With phase angle trimming, a set value at npositiontrimming is added to the speed setpoint. This changes the rotor position forwards or backwards relative to the setpoint (drive leading or lagging) depending on the number of increments applied. The phase trimming can be performed within a range of ±32767 increments (corresponds to ±1/2 revolution). The input is made in increments (one revolution corresponds to increments). When analog values are entered, 100% correspond to 1/4 revolution = increments. You can expand the range of adjustment by using the multiplier nangleoffsetmult. Phase offset With the phase angle offset dnposoffset a fixed phase angle shift is applied to the setpoint for the drive. Speed proportional phase setting The phase angle shift enables a leading or lagging of the phase with rising speed. In nspeeddependposoffset a corresponding adjustment can be entered in increments. The set phase offset is reached at rpm of the drive (linear relationship). L LenzeElectricalShaft.lib EN

22 2.1.2 Digital frequency processing (L_DFSET) Synchronization to zero track or TouchProbe > 2 K I A > > O 2 K I A. K? M )? J 2 K I A, EL M 5 A J 2 K I A, EL,. 5-6,. 1 > A? A EL >,. 1? = I J5? = F > 5 A J6 2 4 A? A EL 5 A J6 2 = I J5? = F > )? > > )? J6 2 4 A? A EL > + 6 )? J1? = I J5? = F > )? J6 2 4 A? A EL )? J = I J5? = F 5 F A 6 HE L 5 F A 6 HE = / A = H E = J H / = E E = J H 5 A J K J L,. 1 1 L 5 A J L = > > M / = E, A = = = > > M / A = H, A 5 A J5 F A K J = > 9 EJD K J/ A = H. =? J 2 I BBI A J 5 F A A F 2 I BBI A 2 I, EBB K J F > 5 A J1 JA C H= J H > > 4 A I A J) 1 JA C H= J HI > 1 JA H L = 6 E A 6 ) 2 I 5 A J K J F 2 I EJE 6 HE E C ) C A BBI A J K J 1 JA H L = 6 E A 6 ) )? J L )? J M. M E C - HH9 E 16 2! >. M E C - HH >? I J 16 2! > 2 I L A HB M > Abb. 2 7 Programming L_DFSET for synchronization to zero track or TP (TouchProbe) The synchronization of the actual value (SB MCTRL_MotorControl) to the setpoint (SB DF_IN_DigitalFrequency) is made through a zero pulse or TP (TouchProbe). The setpoint is provided through L_DFSET1.nSet_v. ( rpm) The actual value is provided through L_DFSET1.nNAct_v. ( rpm) Zero pulse from actual value: Set code C0911 (SB MCTRL_MotorControl) to 0. Tip! Touch probe initiators can have response delay times that cause a speed dependent phase angle offset. Code C0910 can be used to set a correction value ( incr incr.) for this phase angle offset ( motor turn). Code C0490 is used to select the correct feedback system: 0 Resolver 1 Encoder TTL 2 Encoder sin 3 Absolute ST 4 Absolute MT 2 12 LenzeElectricalShaft.lib EN 1.2 L

23 2.1.2 Digital frequency processing (L_DFSET) Zero pulse from setpoint: Set code C0428 (SB DF_IN_DigitalFrequency) to 0. Tip! Touch probe initiators can have response delay times that cause a speed dependent phase angle offset. Code C0429 can be used to set a correction value ( incr incr.) for this phase angle offset. TouchProbe from actual value: Set code C0911 (SB MCTRL_MotorControl) to 1. The TouchProbe is activated through terminal X5/E4 (actual value pulse). Tip! Touch probe initiators can have response delay times that cause a speed dependent phase offset. Code C0910 can be used to set a correction value ( incr incr.) for this phase angle offset. TouchProbe from setpoint: Set code C0428 (SB DF_IN_DigitalFrequency) to 1. The TouchProbe is activated through terminal X5/E5 (setpoint pulse). Tip! Touch probe initiators can have response delay times that cause a speed dependent phase angle offset. Code C0429 can be used to set a correction value ( incr incr.) for this phase angle offset. Formula for correction value at C0429 and C0910: Correction value at C0429/C0910 = * correction value Please obtain the values from the data sheet of the initiator, or contact the manufacturer. Stop! If the synchronization via terminals X5/E4 and X5/E5 (C0532 = 2), make sure that no other control signals are taken from these terminals. L LenzeElectricalShaft.lib EN

24 2.1.2 Digital frequency processing (L_DFSET) A TouchProbe or zero pulse has occurred: If a TouchProbe or zero pulse has appeared at terminal X5/E4 or X5/E5, then the instance of L_DFSET receives this information through bsettpreceived_b (setpoint of the SB DF_IN_DigitalFrequency) and bacttpreceived_b (actual value of the SB MCTRL_MotorControl) the next time that the task is called in which the instance of L_DFSET is processed. The phase angle difference between the appearance of the TouchProbe/zero pulse signal and the start of this task is assigned to dnacttplastscan_p and dnsettplastscan_p respectively. The synchronization can be made to be precisely in phase, with the help of this information. If the synchronization has been successfully concluded, then L_DFSET1.bAck_b is set to TRUE. Synchronization mode For the synchronization, different modes are available. The setting is made through by0pulsfunc. by0pulsfunc Synchronization mode Note 0 inactive function inactive 1 continuous synchronization with correction in the shortest The synchronization starts after 2 zero pulses are received. possible way 2 single synchronization with correction in the shortest possible way 10 single synchronization, a phase deviation is corrected in the shortest possible way 11 single synchronization, a phase deviation is corrected in CW direction 12 single synchronization, a phase deviation is corrected in CCW direction 13 single synchronization, a phase difference is determined between setpoint pulse and actual pulse and is corrected to the corresponding direction of rotation according to the sign Set b0pulse_b = TRUE for a single zero pulse synchronization. The synchronization starts after 2 zero pulses are received. Set b0pulse_b = TRUE for a single zero pulse synchronization Calculation of a phase angle difference With the aid of a set/actual phase angle comparison, a phase angle difference can be determined, and corrected. DFIN_nIn_v MCTRL_nNAct_v nset_v nnact_v set position actual value + - dnposdiffout_p MCTRL_dnPosSet_p Abb. 2 8 Example of phase angle difference determination for the 9300 Servo PLC, with L_DFSET In nset_v ( rpm) the setpoint speed is read in, and integrated into a path information by an integrator in L_DFSET. The processing time for the task, during which the instance of L_DFSET is called, is taken into account. The stretch and gearing factors, as well as offsets, can also be taken into account in the calculation of the setpoint speed. In nnact_v ( rpm) the actual speed is read in, and integrated into a path information by an integrator in L_DFSET. The processing time for the task, during which the instance of L_DFSET is called, is taken into account LenzeElectricalShaft.lib EN 1.2 L

25 2.1.2 Digital frequency processing (L_DFSET) In dnposdiffout_p the calculated phase angle difference is given out, and can, if appropriate, be assigned to a phase angle controller (e.g. for the system variables MCTRL_dnPosSet_p of the 9300 Servo PLC). In dnpossetout_p path information is given out from the setpoint integrator. The actual value and setpoint integrators can be set to 0 by bresetallintegrators_b = TRUE, whereby dnposdiffout_pand dnpossetout_p are set to 0. By using bsetintegrator_b = TRUE, the actual value and setpoint integrators are set to be the same. If a FALSE TRUE transition occurs at bsetintegrator_b then dnposdiffout_p is set = 0. bsetintegrator_b has a higher priority than bresetallintegrators_b Process monitoring functions Contouring (following) error (bfollowingerr_b = TRUE) The monitoring reacts if the drive is not able to follow its set phase, because e.g. the centrifugal mass is too large for the set acceleration or deceleration time or the torque limit is reached (load torque > drive torque) Remedy: Unload drive or increase torque limit at the servo controller (if the power limits of the controller are not yet achieved) The monitoring is derived from the phase difference of set value integrator minus actual phase integrator. The comparison value (contouring error limit) dwfollowingerrwin) can be set by a parameter variable. Phase angle controller overflow (bposoverflow_b = TRUE) If this monitoring reacts, the phase deviation which can be represented internally, is exceeded. Homing points are lost. Tip! If a TRIP is to be triggered, then the status of the appropriate variable must be passed on to the SB DCTRL_DriveControl, so that an external TRIP can be triggered with its help. L LenzeElectricalShaft.lib EN

26 2.1.3 Gearing compensation (L_GEARCOMP) Gearing compensation (L_GEARCOMP) This FB compensates for elasticity in the drive chain. 6 HG K A = 2 D E F 8 H A E? D A BBI A J / - ) K A H= J H, A E = J H # K J F Abb. 2 9 Gearing compensation (L_GEARCOMP) VariableName DataType SignalType VariableType Note ntorque_a Integer analog VAR_INPUT Input value dnphiin_p Double Integer position VAR_INPUT Input value dnout_p Double Integer position VAR_OUTPUT Initial value noffset Integer VAR CONSTANT RETAIN Offset nnumerator Integer VAR CONSTANT RETAIN Numerator, dynamic switch off at nnumerator = 0 ndenominator Integer VAR CONSTANT RETAIN Denominator Parameter codes of the instances VariableName L_GEARCOMP1 SettingRange Lenze noffset C nnumerator C ndenominator C Functional sequence 1. The signal at ntorque is divided into the absolute value and the sign. 2. The value is converted (with nnumerator, ndenominator, noffset ). 3. The result is evaluated with the sign and added to the signal at dnphiin_p 2 16 LenzeElectricalShaft.lib EN 1.2 L

27 2.1.4 Homing function (L_REF) Homing function (L_REF) This FB is used to bring the drive shaft to a specific position. > )? J6 2 4 A? A EL > 4 )? J6 2 = I J5? = F )? J2 I 1 F > 2 I > > O 0 E 4 A B BBI A 0 E C 5 F A M 6 E6 E A 0 E C > = H > > > + 6 )? J2 6 = HC A J2 I > 4 A B > > 4 A B* K I O > )? J L 1 = 5 A J 2 I 1 2 I K J 2 M, M )? J1 JA 4 A J= E Abb Homing function (L_REF) VariableName DataType SignalType VariableType Note bacttpreceived_b Bool binary VAR_INPUT TouchProbe received dnacttplastscan_p Double Integer position VAR_INPUT Phase angle difference between TouchProbe and start of task dnactpos_in_p Double Integer position VAR_INPUT Loading value for the current position bposload_b Bool binary VAR_INPUT FALSE TRUE edge = phase angle at input dnactposin_p is loaded into REF ACTPOS (start value) bmark_b Bool binary VAR_INPUT Home position switch bon_b Bool binary VAR_INPUT TRUE = start homing nnact_v Integer velocity VAR_INPUT Actual speed, for calculating the actual position ( rpm) nnin_a Integer analog VAR_INPUT Speed setpoint in [%] of n max (C0011) (C % 16384) dnposin_p Double Integer position VAR_INPUT dnposin_p is switched through to dnposout_p after homing dnactpos Double Integer position VAR_OUTPUT Actual position of the calculated position profile dntargetpos Double Integer position VAR_OUTPUT Target position of the calculated position profile brefok_b Bool binary VAR_OUTPUT TRUE = homing completed/reference point known brefbusy_b Bool binary VAR_OUTPUT TRUE = homing function active nnset_a Integer analog VAR_OUTPUT Speed setpoint for n controller dnposout_p Double Integer position VAR_OUTPUT Phase setpoint (contouring error for phase controller in FB MCTRL) dnpowdownactinte Retain Double Integer VAR_IN_OUT For Mode 21, to save the position after switching off the supply power byhomingmode Byte VAR CONSTANT RETAIN Setting for homing modes dnrefoffset Double Integer VAR CONSTANT RETAIN Setting for homing offset (1 1 incr.) dnhomingspeed Double Integer VAR CONSTANT RETAIN Setting for homing speed ( rpm) wtitimehoming Word VAR CONSTANT RETAIN Setting for ramp time (100 1 s) L LenzeElectricalShaft.lib EN

28 2.1.4 Homing function (L_REF) Parameter codes of the instances VariableName L_REF1 SettingRange Lenze byhomingmode C0932 0, 1, 8, 9, 20, 21 0 dnrefoffset C inc 0 dnhomingspeed C rpm 100 wtitimehoming C s 1.00 Note! Use the FB L_REF only in tasks with an interval time in the range from msec! Range of functions Profile generator Homing modes Control via input signals Output of status signals Store the present output value after power interruption Connection of the function block Profile generator The homing speed profile can be adapted to the application. v dwhomingspeed dnrefoffset t bmark_b Abb Homing speed profile wtitimehoming Zero pulse Home position Variable Meaning Note dnrefoffset Homing point offset = number of increments after the zero pulse The reference is: inc = 1 revolution. An input of up to incr. is possible dnhomingspeed Maximum traversing speed Entry in [rpm]. ( rpm) wtitimehoming Ramp up/down time linear ramp (100 1 s) 2 18 LenzeElectricalShaft.lib EN 1.2 L

29 2.1.4 Homing function (L_REF) The profile generator calculates the speed profile from the set profile parameters. You can make parameter changes during the homing run. dnhomingspeed and wtitimehoming become effective when bon_b is set = FALSE Do not operate the drive at the torque limit ( MCTRL_bMMax_b = TRUE), otherwise the drive cannot follow the velocity profile. Increase the up/down time wtitimehoming until MCTRL_bMMax_b no longer responds. The phase controller in the SB MCTRL must be switched to active. Note for use of the FB L_REF The L_REF function block calculates the path by measn of a er v(t) profile: Abb v(t) profile Through the input nnact_v, the actual speed can be read in, and the actual position can be calculated. From this calculation, via the phase angle controller (with MCTRL_bPosOn_b = TRUE and if L_REF.dnPosOut_p is linked to MCTRL_dnPosSet_p) the position can be corrected, if a deviation occurs. The correction is made up to the time t Target. If the deviation is so large that the phase angle controller cannot correct it within the time t Target, then a contouring error evaluation must be performed, with the aid of the FB L_DFSET. The calculated position profile operates the motor control through the output L_REF.dnPosOut_p.nNSet_a (the position profile is followed in open loop control, not closed loop). When the calculated position profile has reached L_REF.dnTargetPos_p, the homing is finished, and L_REF.bRefOk_b is set =TRUE and L_REF.bRefBusy_b is set =FALSE. The output L_REF.dnActPos_p indicates the actual position that L_REF has calculated, through L_REF.nNAct_v. The evaluation of a Touch Probe or zero pulse can be made through the TP/MP CTRL interface (homing modes 0,1, 8 and 9). When the end position has been reached, the internal switch of the FB L_REF changes over, and the values from the inputs L_REF.nNIn_a and L_REF.dnPosIn_p are connected through to the outputs L_REF.nNSet_a and L_REF.dnPosOut_p If, during homing, the input bon_b changes to FALSE, then the homing/profile is stopped, and then continued after a fresh bon_b=true. The position profile will only be processed if the drive controller is enabled. L LenzeElectricalShaft.lib EN

30 2.1.4 Homing function (L_REF) Homing Modes The home position is defined by: the homing mode byhomingmode the reference point offset dnrefoffset Note! When using feedback from a resolver,the zero position is used, not the zero pulse (depending on the resolver attached to the motor), and, for homing with the TouchProbe, the TouchProbe phase angle. Homing with a reference switch to zero pulse (MP)/zero position or TouchProbe (TP) via the TP/MP CTRL interface The reference point is situated after the TRUE FALSE edge of the reference switch bmark_b, at the next zero pulse/zero position, or TP plus the reference mark offset: It depends on the setting of the system block that provides the actual speed, whether homing is made to zero pulse/zero position or TouchProbe: With SB MCTRL_MotorControl the setting is made through C0911 (0=MP, 1=TP via E4). With SB DF_IN_DigitalFrequency the setting is made through C0428 (0=MP, 1=TP via E5). For further information, see the description for SB MCTRL_MotorControl and SB DF_IN_DigitalFrequency in the Manual 9300 Servo PLC". Mode 0 ( byhomingmode = 0): Move to the home position in CW rotation. Home position offset dnrefoffse is entered as 4 A B BBI A J 6 2 )? J L > = H > Q R S T Abb Homing with zero pulse/zero position or TouchProbe; moving to the reference mark in the cw direction of rotation Distance Start position Direction Home position 2 20 LenzeElectricalShaft.lib EN 1.2 L

31 2.1.4 Homing function (L_REF) Mode 1 ( byhomingmode = 1): Move to the home position in CCW rotation. Home position offset dnrefoffset is entered as 4 A B BBI A J )? J L > = H > Q T S R Abb Homing with zero pulse/zero position or TouchProbe; moving to the reference mark in the ccw (left) direction of rotation Distance Start position Direction Home position Function for homing with a reference switch to zero pulse (MP)/zero position via the TP/MP CTRL interface In this case, the reference offset is set to dnrefoffset =0. If MP is known, the drive moves back to the last zero pulse after a negative edge of L_REF.nMark_b. If the drive starts from a position on an MP, after L_REF.nMark_b =TRUE, then it moves to the next MP. This applies to Modes 0 and 1, with homing to zero pulse (MP)/zero position, using a reference switch > I F 4 -. > = H > 4 -. > 4 -. > = H > I F 4 -. > 4 -. > = H > I F I E? Abb Function for homing with a reference switch to zero pulse /zero position L LenzeElectricalShaft.lib EN

32 2.1.4 Homing function (L_REF) Note! If the drive is to stop at the next zero pulse after detecting the mark, then an offset must be assigned, under dnrefoffset. Mode 0: dnrefoffset = ( 1 motor turn) Mode 1: dnrefoffset = ( 1 motor turn) Function for homing with a reference switch and TouchProbe (TP) In this case, the reference offset is set to dnrefoffset =0. This applies to Modes 0 and 1, for homing with a reference switch and TouchProbe 4 -. > 4 -. > = H > I F > 4 -. > = H > I F 6 2 I E? Abb Function for homing with a reference switch and Touch Probe 2 22 LenzeElectricalShaft.lib EN 1.2 L

33 2.1.4 Homing function (L_REF) Homing with TouchProbe (TP) or zero pulse (MP) The reference point is at the next TouchProbe signal, or zero pulse plus the reference point offset. Mode 8 ( byhomingmode = 8): Move to the home position in CW rotation. Home position offset dnrefoffset is entered as positive. Mode 9 ( byhomingmode = 9): Move to the home position in CCW rotation. Enter the reference point offset dnrefoffset or zero pulse as a negative value. Take care that the TP has been parameterized in the system block! Example: Mode 8 with a 9300 Servo PLC through MCTRL_MotorControl Abb Example: Mode 8 with a 9300 Servo PLC through MCTRL_MotorControl Settings In Parameter Manager: byhomingmode = 8 C0911=0, homing to zero pulse or C0911=1, homing to TouchProbe (terminal X5/E4). With C0911=1, C0912 can be used to select whether a rising or falling edge will trigger a TouchProbe. (C0912 = 0: rising edge; C0912 = 1: falling edge) With C0910 a delay can be set for a TP/MP. L LenzeElectricalShaft.lib EN

34 2.1.4 Homing function (L_REF) Direct homing The home position is on the home position offset. Mode 20 ( byhomingmode = 20): The drive moves immediately after activation ( bon_b = TRUE) from the present position to the reference point. You can load the actual position value before, with the input value dnactposin_p ( 2 24) The distance and direction results from the actual position and the set reference point offset. dnrefoffset. 4 4 A B BBI A J 4 )? J2 I 1 F Q Q I F R S T Abb Direct homing; move to the home position in CW rotation Distance Start position Direction Home position Mode 21 ( byhomingmode = 21), as mode 20, but also: The actual position is saved during power disconnection, and is loaded again at power on (set C2104 = 1). Note! One turn = Control via input signals bon_b = FALSE TRUE edge starts the homing: The input must remain TRUE until homing is completed. Homing is canceled if the input is set to LOW before the reference point is reached. bon_b is set = FALSE. bon_b = FALSE interrupts the homing: The drive is decelerated to zero speed along the preset ramp. dwtitimehoming The inputs nnin_a and dnposin_p are connected through to the outputs nnset_a and dnposout_p The state has no effect if homing is already completed ( bbusy_b = FALSE). bposload_b = FALSE TRUE edge: The profile generator accepts the phase applied at input dnactposin_p as a start value for the actual position value. The function is effective only if bon_b is set = FALSE The function is effective only in modes 20 and LenzeElectricalShaft.lib EN 1.2 L

35 2.1.4 Homing function (L_REF) Example The motor should make a 10 turn (left/ccw rotation) relative positioning movement, and then stop. Settings: byhomingmode = 20 L_REF.RefOffset = 0 After operation of DIGIN_bIn1_b =TRUE, the motor rotates for 10 turns in a left/ccw direction. If the value L_REF.dnActPos_p is positive, the motor rotates left/ccw, if it is negative, the motor rotates in a cw direction! If a reference point offset is also defined then with a positive offset, the relative position = L_REF.dnActPosIn_p L_REF.RefOffse negative offset, the relative position = L_REF.dnActPosIn_p + L_REF.RefOffset 4 -. $ # #! )? J2 I 1 F, 1/ 1 > 1 > J # I 6, 1/ 1 > 1 > )? J L > 2 I > > > )? J L 5 M A HJB H9 E A HA C A H =? D * A EC K A H2 I EJE EA HK C 1 = 5 A J = A J 2 I 1 2 I K J F I 5 A J F Abb Example of relative positioning (Legend: Sollwert für Winkelregler nach... = Setpoint for phase angle controller at the end of positioning) Output of status signals With bbusy_b = TRUE, the homing function is active: The profile generator is connected to the outputs dnposout_p and nnset_a With bbusy_b = FALSE, the homing function is not active (or finished): The inputs dnposin_p and nnin_a are connected through to the outputs dnposout_p and nnset_a With brefok_b = TRUE, the homing run has been ended successfully: Homing is completed if the setpoint of the profile generator has reached the home position. Any possible contouring error is transmitted to the FB L_DFSET and compensated unless the drive is operating at the torque limit. With brefok_b = FALSE: Homing is currently being carried out or the reference point is no longer known, e.g. due to interference, or homing was interrupted. L LenzeElectricalShaft.lib EN

36 2.1.4 Homing function (L_REF) Store the present output value after power interruption > )? J6 2 4 A? A EL > 4 )? J6 2 = I J5? = F )? J2 I 1 F > 2 I > > O 0 E 4 A B BBI A 0 E C 5 F A M 6 E6 E A 0 E C > = H > > > + 6 )? J2 6 = HC A J2 I > 4 A B > > 4 A B* K I O > )? J L 1 = 5 A J 2 I 1 2 I K J F 8 ) 4 / * ) 4-6 ) 2 M, M )? J1 JA 4 A J= E 8 ) 4 / * ) 4-6 ) 1 Abb Programming to store the present output value after a supply interruption In order to store the latest value at dnactpos_p after a supply interruption, you must declare a global variable of type RETAIN (VAR_GLOBAL RETAIN). Link this variable as shown in Abb In this variable, the present value is always stored at dnactpos_p The variable will hold the value after a supply interruption. When the supply is switched on again, the stored value is read into the FB L_REF from the variable and applied as the starting value. Note! This only applies to Mode 21, no RETAIN type variable needs to be defined for the other modes LenzeElectricalShaft.lib EN 1.2 L

37 2.1.4 Homing function (L_REF) Linking the function block for zero pulse/zero position or TP Important for Modes 0, 1, 8 and 9. dnposout supplies the set phase angle for nnset_a (contouring error) for the phase angle controller in SB MCTRL. For correct homing, both signals ( dnposout_p and nnset_a ) must be processed. The homing function must be linked to the FB L_DFSET. (see, for example, signal flow diagram for the template DFMasterInternal24VSupply_CFG5010FUP.lpc"). Otherwise, cumulative phase errors may occur > )? J6 2 4 A? A EL > + 6 )? J1? = I J5? = F > )? J6 2 4 A? A EL )? J6 2 = I J5? = F )? J2 I 1 F > 2 I > > O 0 E 4 A B BBI A 0 E C 5 F A M 6 E6 E A 0 E C > = H > + 6 )? J2 6 = HC A J2 I > 4 A B > > 4 A B* K I O > > > )? J L )? J L 1 = 5 A J 2 I 1 2 I K J 2 M, M )? J1 JA 4 A J= E Abb Programming the FB L_REF for a precise phase angle The FB L_REF reads in the momentary speed signal at nnact_v Using TP/MP CTRL, the actual phase angle difference between a TouchProbe in SB MCTRL_MotorControl and the call of the FB L_REF is determined. In this way, a phase angle deviation is acquired, corrected, and stored in FB L_REF. After reading in the phase angle difference at dnacttplastscan_p, benabletpact_b is set = TRUE, to start a new measurement in the SB. MCTRL_MotorControl. Further information: ( 2 20 ff) L LenzeElectricalShaft.lib EN

38 2.1.4 Homing function (L_REF) Example: homing to a TouchProbe Nature of the task: Homing is to be carried out with HomingMode = 0 (moving to the reference point with right/cw direction of rotation). The digital input X5/E4 (TouchProbe for the SB MCTRL_MotorControl) is to set the reference point. The homing speed is 1000 rpm, and the ramp up time is 1 second. During and after the homing, any phase angle difference between the setpoint and actual value is to corrected. Implementation: Abb Programming the FB L_REF for homing to a TouchProbe Create one instance each of the FB L_DFSET and the FB L_REF. Assign the first instance codes to these instances, using the Instance Parameter Manager. In this way, all the values for the parameterization of the variables (e.g. for scaling and initialization) will be set to the Lenze standard settings. Note! You can find the Lenze standard settings for the instances of an FB in the table Parameter Codes for the Instances" in the corresponding FB description LenzeElectricalShaft.lib EN 1.2 L